CN103157900B - 焊接机器人 - Google Patents

焊接机器人 Download PDF

Info

Publication number
CN103157900B
CN103157900B CN201210427359.8A CN201210427359A CN103157900B CN 103157900 B CN103157900 B CN 103157900B CN 201210427359 A CN201210427359 A CN 201210427359A CN 103157900 B CN103157900 B CN 103157900B
Authority
CN
China
Prior art keywords
welding
operation program
robot
driver
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201210427359.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN103157900A (zh
Inventor
塔尼娅·比尔纳-祖赫
西蒙·迪特里希
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of CN103157900A publication Critical patent/CN103157900A/zh
Application granted granted Critical
Publication of CN103157900B publication Critical patent/CN103157900B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/10—Spot welding; Stitch welding
    • B23K11/11—Spot welding
    • B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/24—Electric supply or control circuits therefor
    • B23K11/241—Electric supplies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/24—Electric supply or control circuits therefor
    • B23K11/25—Monitoring devices
    • B23K11/252—Monitoring devices using digital means
    • B23K11/256—Monitoring devices using digital means the measured parameter being the inter-electrode electrical resistance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/42—Welding

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Resistance Welding (AREA)
  • Manipulator (AREA)
CN201210427359.8A 2011-12-08 2012-10-31 焊接机器人 Expired - Fee Related CN103157900B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011087958.7 2011-12-08
DE102011087958A DE102011087958A1 (de) 2011-12-08 2011-12-08 Schweißroboter

Publications (2)

Publication Number Publication Date
CN103157900A CN103157900A (zh) 2013-06-19
CN103157900B true CN103157900B (zh) 2016-05-25

Family

ID=47294741

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210427359.8A Expired - Fee Related CN103157900B (zh) 2011-12-08 2012-10-31 焊接机器人

Country Status (4)

Country Link
US (1) US9120174B2 (fr)
EP (1) EP2602046A3 (fr)
CN (1) CN103157900B (fr)
DE (1) DE102011087958A1 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5949911B2 (ja) * 2012-05-21 2016-07-13 株式会社安川電機 ロボット
US9643277B2 (en) * 2013-09-19 2017-05-09 Kabushiki Kaisha Yaskawa Denki Robot
DE102013018857A1 (de) 2013-11-11 2015-05-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung nach Art eines Knickarmroboters
CN104096960B (zh) * 2014-07-01 2016-02-03 天津市科华焊接设备有限公司 一种平板点焊机的上电极机械臂
DE102014109523A1 (de) * 2014-07-08 2016-01-14 Thyssenkrupp Ag Verfahren zur Verbindung von zwei Bauteilen
DE102014222678A1 (de) * 2014-11-06 2016-05-12 Kuka Roboter Gmbh Verfahren und System zum Stillsetzen von Achsen eines Industrieroboters
CN104607787B (zh) * 2015-02-02 2016-10-12 安徽机电职业技术学院 一种多自由度多角度摇臂式点焊机
DE102015205088B4 (de) * 2015-03-20 2021-03-04 Kuka Deutschland Gmbh Verfahren zum Ermitteln eines Kalibrierungsparameters eines Fahrzeuges sowie Fahrzeug hierzu
CN105643082B (zh) * 2016-03-16 2017-12-08 重庆市龙泉汽车配件有限公司 一种用于点焊机的对称式多用夹具
CN105921867A (zh) * 2016-06-06 2016-09-07 中车唐山机车车辆有限公司 车体底架自动点焊设备
DE102017003714A1 (de) 2017-04-15 2018-10-18 Audi Ag Roboteranlage mit Werkzeugfixiereinrichtung
DE102017121095A1 (de) * 2017-09-12 2019-03-14 Matuschek Meßtechnik GmbH Verfahren und Vorrichtung zur Messung einer Elektrodenkraft einer Schweißzange
CN110125521A (zh) * 2018-07-27 2019-08-16 无锡金红鹰工业自动化有限公司 一种机器人电阻焊装置
DE102018216331A1 (de) * 2018-09-25 2020-03-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben einer Schweißvorrichtung sowie Schweißroboter
JP2020075264A (ja) * 2018-11-06 2020-05-21 マツダ株式会社 抵抗溶接装置及びそれを用いた抵抗溶接方法、溶接装置
DE102019209737A1 (de) * 2019-07-03 2021-01-07 Robert Bosch Gmbh Schweisssteuerung für ein schweisswerkzeug und verfahren zur kraftregelung eines schweisswerkzeugs
CN113909739A (zh) * 2021-09-08 2022-01-11 机械工业第九设计研究院股份有限公司 机器人焊钳长距离传送切换机构
DE102022200808A1 (de) 2022-01-25 2023-07-27 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Knickarmroboter zur Handhabung großer Lasten

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4442337A (en) * 1980-04-21 1984-04-10 Nissan Motor Company, Limited Method and system for dual control of resistance welding
US6004019A (en) * 1996-06-04 1999-12-21 Toyota Jidosha Kabushiki Kaisha Integrated control system for a work robot
CN1383952A (zh) * 2001-04-25 2002-12-11 小原株式会社 焊接系统
CN101890715A (zh) * 2009-04-22 2010-11-24 库卡机器人有限公司 调节机械手的方法及装置

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4302653A (en) * 1980-04-02 1981-11-24 Weltronic Company Method and apparatus for monitoring and controlling a resistance welding operation
US4447700A (en) * 1982-06-07 1984-05-08 General Electric Company Resistance spot welder adaptive control
JPS63203283A (ja) * 1987-02-18 1988-08-23 Kawasaki Heavy Ind Ltd 溶接ロボツトの制御装置
JPH01231264A (ja) * 1988-03-10 1989-09-14 Furukawa Battery Co Ltd:The 鉛蓄電池における抵抗溶接法並に抵抗溶接回路装置
US4973813A (en) * 1989-09-25 1990-11-27 Shirley Mitchell System for monitoring weld parameters
JP2504327B2 (ja) * 1990-11-22 1996-06-05 三菱自動車工業株式会社 多関節形溶接ロボット及び該ロボットにおける電極の芯合せ方法
US5254828A (en) * 1991-05-02 1993-10-19 Ariel Stiebel Method and apparatus for controlling electrical resistance spot welding
US5111020A (en) * 1991-05-02 1992-05-05 Ariel Stiebel Method and apparatus for controlling electrical resistance spot welding
JP3114440B2 (ja) * 1993-07-22 2000-12-04 日産自動車株式会社 スポット溶接装置
US5742022A (en) * 1995-04-19 1998-04-21 Dct Avanced Engineering, Inc. Industrial workcell system and method
JPH1058157A (ja) * 1996-06-13 1998-03-03 Kawasaki Heavy Ind Ltd スポット溶接の制御方法および装置
US5988486A (en) * 1997-03-11 1999-11-23 Honda Giken Kogyo Kabushiki Kaisha Method of controlling electrode force of spot welding gun
US6545244B1 (en) * 1997-09-16 2003-04-08 Edison Welding Institute Conductive heat seam welding
AU3341900A (en) * 1998-08-05 2000-12-18 Dct, Inc. Welding system
EP1671738B1 (fr) * 1998-12-16 2016-03-02 Dengensha Manufacturing Company Limited Appareil de soudage par résistance
US6011237A (en) * 1999-06-17 2000-01-04 Yang; Daniel Locking electrode tip for resistance spot-welding
DE10005963C2 (de) * 2000-02-09 2003-04-17 Reu Schweistechnik Gmbh Punktschweiß Steuervorrichtung
AU3375001A (en) * 2000-02-09 2001-08-20 Reu-Schweisstechnik Gmbh Resistance spot welding control device and method
FR2821682B1 (fr) * 2001-03-01 2003-05-30 Usinor Procede de controle et de commande d'un processus technique
CA2428981C (fr) * 2002-05-20 2007-12-04 Dengensha Manufacturing Company Limited Methode de reglage des parametres de soudage pour instrument de controle de machine a souder par resistance
US6907318B2 (en) * 2003-01-09 2005-06-14 Advanced Tubing Technology, Inc. Multi-station robotic welding assembly
SE0302092L (sv) * 2003-07-11 2005-01-12 Abb Ab Robotsystem
DE20321807U1 (de) * 2003-08-20 2010-05-27 Kuka Roboter Gmbh Vorrichtung zum Steuern der Andruckkraft einer Schweißzange
FR2872074B1 (fr) * 2004-06-28 2006-09-29 Peugeot Citroen Automobiles Sa Procede de supervision d'un procede de soudage par resistance et dispositif pour la mise en oeuvre de ce procede
US8525066B2 (en) * 2008-06-04 2013-09-03 GM Global Technology Operations LLC Electrode for spot welding
JP5301369B2 (ja) * 2009-06-26 2013-09-25 本田技研工業株式会社 シーム溶接装置及びシーム溶接方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4442337A (en) * 1980-04-21 1984-04-10 Nissan Motor Company, Limited Method and system for dual control of resistance welding
US6004019A (en) * 1996-06-04 1999-12-21 Toyota Jidosha Kabushiki Kaisha Integrated control system for a work robot
CN1383952A (zh) * 2001-04-25 2002-12-11 小原株式会社 焊接系统
CN101890715A (zh) * 2009-04-22 2010-11-24 库卡机器人有限公司 调节机械手的方法及装置

Also Published As

Publication number Publication date
CN103157900A (zh) 2013-06-19
EP2602046A3 (fr) 2018-02-14
US20130146574A1 (en) 2013-06-13
EP2602046A2 (fr) 2013-06-12
US9120174B2 (en) 2015-09-01
DE102011087958A1 (de) 2013-06-13

Similar Documents

Publication Publication Date Title
CN103157900B (zh) 焊接机器人
EP1660268B1 (fr) Procede permettant de positionner un outil d'un robot de soudage
CN102626924B (zh) 引用至少一个电驱动器的驱动状态的方法
JPH05138366A (ja) クランプを含む工具操作を制御するための装置
JPH1058157A (ja) スポット溶接の制御方法および装置
CA3066650A1 (fr) Tete de fil chaud a laser coaxial
JPH0732160A (ja) スポット溶接装置
JP5015007B2 (ja) 電気スポット溶接のための方法および装置
US20170001268A1 (en) Welding system
JP2019505391A (ja) 溶接装置
US11872697B2 (en) Collaborative device with optimised control
CN108994439A (zh) 一种自动补偿校准功能的伺服加压点焊焊接系统
JP4045713B2 (ja) 自動機用溶接機
WO2003095135A1 (fr) Equipement et procede de soudage tig
CN101247918A (zh) 带有包括弯曲连接元件的补偿单元的点焊钳
Lima et al. Development of a robot for orbital welding
JP4646179B2 (ja) スポット溶接方法
JPS5823188B2 (ja) 自動溶接装置におけるト−チの電極突出長さ規正方法
JP2019136752A (ja) スポット溶接装置
JP4227483B2 (ja) 自動溶接機
JP3537014B2 (ja) スポット溶接ガン
JP3580330B2 (ja) 溶接装置の制御方法
JP4375671B2 (ja) ロボット・シーム溶接方法および装置
JP5922926B2 (ja) スポット溶接装置の加圧制御方法
JP3890256B2 (ja) Ｔｉｇ溶接装置及びｔｉｇ溶接方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160525

Termination date: 20181031

CF01 Termination of patent right due to non-payment of annual fee